EP3956175B1 - Vehicle with a device for visually warning of an unintentional crossing of a roadway marking line, and associated warning method - Google Patents

Vehicle with a device for visually warning of an unintentional crossing of a roadway marking line, and associated warning method Download PDF

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Publication number
EP3956175B1
EP3956175B1 EP20725817.9A EP20725817A EP3956175B1 EP 3956175 B1 EP3956175 B1 EP 3956175B1 EP 20725817 A EP20725817 A EP 20725817A EP 3956175 B1 EP3956175 B1 EP 3956175B1
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EP
European Patent Office
Prior art keywords
vehicle
warning
road
line
projection means
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EP20725817.9A
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German (de)
French (fr)
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EP3956175A1 (en
Inventor
Jean Charles BERREUR
Ivan Jacquemard
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Stellantis Auto SAS
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PSA Automobiles SA
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Publication of EP3956175A1 publication Critical patent/EP3956175A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body

Definitions

  • the present invention generally relates to devices for alerting the involuntary crossing of a marking line of the traffic lane of a motor vehicle.
  • line is meant here a marking, a continuous or broken line drawn on a road and delimiting one side of a traffic lane on which a vehicle is authorized to travel.
  • Such a device conventionally comprises a video camera continuously capturing the environment in front of the vehicle and associated with processing and analysis means capable of detecting the marking lines delimiting the vehicle lane, a control unit capable of estimating the trajectory of the vehicle via data transmitted by various sensors of the vehicle measuring in particular the instantaneous speed and the yaw angle of the vehicle.
  • This control unit is configured to trigger the transmission by warning means of an alert intended for the driver in the event of detection of an imminent crossing of one of the marking lines of the traffic lane of this vehicle when the direction change indicator located on the side corresponding to this line is not activated.
  • the warning means are arranged to warn the driver via a specific audio message and/or vibration in the seat on which it is installed or on the steering column and steering wheel of the vehicle it is holding.
  • the document JP 2010-26759A discloses projecting onto the road and in front of the vehicle an image comprising textual warning signage and/or in the form of a pictogram.
  • the present invention aims to improve the safety of these users.
  • a motor vehicle with a device for visually alerting the involuntary crossing of a marking line of the lane of the vehicle traveling on a road
  • said device comprising video acquisition means associated with means processing and analysis to detect the marking lines delimiting said traffic lane, visual warning means capable of projecting onto the road an image comprising warning signs, as well as a control unit capable of estimating the trajectory of the vehicle and configured to trigger the emission of said alert signaling in the event of detection of an imminent crossing of at least one of said marking lines of the lane of circulation of this vehicle when the change indicator direction located on the side corresponding to this line is not activated; characterized in that said warning means are configured to project said image onto the portion of said road laterally adjoining said vehicle on the side corresponding to this line.
  • the invention also relates, in a second aspect, to a method for alerting in the event of involuntary crossing of a marking line of the traffic lane of a motor vehicle traveling on a road, said method comprising the steps of detection, in based on the positioning of the marking lines of said lane of circulation of the vehicle as well as on the estimated trajectory of this vehicle, of the imminence of a crossing of said marking line while the change of direction indicator located on the side corresponding to this line is not activated, and projecting an image comprising warning signage on the portion of the road laterally adjoining said vehicle on the side corresponding to this line.
  • FIG. 1 schematically illustrates a section of a two-way traffic road 1 comprising two traffic lanes 2, 3 joined to one another.
  • a first vehicle 4 driving on the traffic lane 2 in the direction represented by the arrow F is about to cross the broken left marking line 5 of its lane 2 to encroach on the lane in the opposite direction of traffic 3.
  • the vehicle 4 is equipped with a device 10 for visual warning of an involuntary crossing of a marking line of the traffic lane according to the invention, the functional diagram of which is represented on the figure 2 .
  • This device 10 comprises video acquisition means 20 constituted here by a single camera installed at the front of the vehicle and continuously capturing the environment in front of the vehicle 4, a processing and analysis module 30 images captured by this camera 20, a sensor 40 measuring the instantaneous speed of the vehicle 5, a sensor 50 for measuring the yaw rate of the vehicle 4, sensors 60 of the state of the side change of direction indicators (flashers) of the vehicle 4, a control unit 70 as well as visual warning means 80.
  • the camera 20 comprises a CCD type optical sensor (acronym in English for “Charge-Coupled Device” translating into French by “charge-coupled device”) or CMOS (acronym in English for “Complementary Metal-Oxide Semiconductor” translating into French as “complementary metal-oxide semi-conductor”).
  • the camera 20 is not necessarily specific to the alert device according to the invention 10 but can also constitute one of the elements of a complementary device such as for example an automatic braking system whose objective is to avoid a collision with an obstacle located in front of the vehicle 4. Such pooling of the video acquisition means thus makes it possible to reduce the cost price of the device 10.
  • the camera can be installed in another location of the vehicle 4, for example at its front bumper.
  • the video acquisition means of the device may comprise two cameras arranged on the two front sides of the vehicle, for example at the level of the mirrors.
  • the processing and analysis module 30 is capable of detecting in real time and via different recognition algorithms, the marking lines 5, 6 delimiting the path of circulation 2 of vehicle 4 from the images transmitted by the camera 20.
  • the data collected by the processing and analysis module 30, the speed sensors 40, the yaw rate 50 and the status of the side direction change indicators 60 are routed in real time to the control unit 70 at which they are connected.
  • the visual warning means 80 comprise at least first projection means located on the outer lateral flank on the driver's side of the vehicle, advantageously in the lower part of the mirror or at the level of the underbody of the vehicle close to the front wheel arch.
  • these first projection means are configured to project, on the portion of the road laterally adjoining the vehicle 4 on the side corresponding to the marking line 5 and in response to a signal transmitted by the control 70, an image 7 comprising a visual alert signage.
  • the visual warning means 80 of the device according to the invention also comprise second projection means located symmetrically to the first projection means on the outer lateral flank on the front passenger side of the vehicle, these second projection means being configured to project, on the portion of the road laterally adjoining the vehicle 4 on the side corresponding to the marking line 6 and in response to a signal transmitted by the control unit 70, an image similar to the image 7 and comprising a visual alert signage.
  • the projection means are not necessarily specific to the device according to the invention 10, but can also constitute one of the elements of a complementary device such as for example a welcome lighting system intended to accompany the driver in his approach or departure phases of the vehicle. In the same way as for the camera, such pooling of these projection means makes it possible to reduce the cost price of the device 10.
  • the image projected by the projection means is anamorphosed, that is to say deformed with respect to its visible projection on the ground to compensate for the angle of inclination of the optical path with respect to the road and so to improve the readability of warning signage for road users located in the environment of the vehicle.
  • the projection means may consist of a simple miniature projector associated with a transparent slide on which the image comprising the visual alert signage is represented.
  • a projector may for example comprise a light-emitting diode or power laser, white or colored, and associated with at least one converging lens.
  • the visual warning means 80 are also capable of prompting the driver via the various human-machine interaction means (HMI) of the visual, sound and/or haptic type with which the vehicle is equipped.
  • HMI human-machine interaction means
  • the visual interaction means may for example consist of the touch screen display of the infotainment device integrated into the center console of the dashboard, by that of the instrument cluster, and/or by that of the head-up display device when the vehicle is equipped with it.
  • the sound interaction means are conventionally formed by the loudspeakers of the infotainment system and/or by an independent system alarm.
  • the haptic interaction means advantageously consist of a plurality of vibrators located in the driver's seat or in the steering wheel.
  • the prompts consist, for example, of the display of an indicator light, the display of an informative or alert text message, the emission of an audible signal, the emission of an informative voice message or alert, and/or the activation of vibrators.
  • the control unit 70 comprises a computer 71 and a storage module 72 which comprises non-volatile memory of the EEPROM or FLASH type and random access memory.
  • the non-volatile memory stores a visual warning process in the event of involuntary crossing of a marking line of the traffic lane of the vehicle 4, which is implemented in this unit 70 and whose flowchart is represented on the picture 3 .
  • all of the information contained in this non-volatile memory can be updated by communication means or means for reading a data medium.
  • step 100 the control unit 70 checks, based on the positioning of the marking lines of the lane of circulation of the vehicle 4 transmitted by the processing and analysis module 30 as well as on the trajectory of the vehicle estimated from the speed and yaw rate data transmitted by the sensors 40 and 50, the imminence of a crossing of a marking line 5 of lane 2.
  • the process according to the invention then checks, on the basis of the data received from the state sensor of the side change of direction indicators 60, whether the side indicator located on the side corresponding to this marking line 5 is indeed activated (step 200).
  • control unit 70 considers that the crossing of the marking line 5 is involuntary, and therefore transmits to the warning means 80, the order to project the image 7 containing the signage visual alert on the portion of road 1 adjoining the vehicle on the side corresponding to this marking line 5 (step 300), as illustrated in the figure 1 where this signage is in the form of a pictogram 7A representing the danger incurred by road users (this pictogram being better visible on the figure 4 .
  • the projection of this image thus makes it possible to warn of the danger the other road users located in the environment of this vehicle (not only those located on the traffic lane 3 in the opposite direction of traffic such as the vehicle 8 on the figure 1 , but also those located on lane 2 behind vehicle 4 such as vehicle 9 on lane figure 1 , so as to increase their level of vigilance and adapt their behavior accordingly.
  • this visual alert signage can be of a different type and include for example a text message 7B associated with one or more pictograms 7C as illustrated by the example of the figure 5 . :

Description

[Domaine technique][Technical area]

La présente invention concerne d'une manière générale les dispositifs d'alerte d'un franchissement involontaire d'une ligne de marquage de la voie de circulation d'un véhicule automobile.The present invention generally relates to devices for alerting the involuntary crossing of a marking line of the traffic lane of a motor vehicle.

[Technique antérieure][prior technique]

On entend ici par ligne un marquage, une ligne continue ou discontinue tracée sur une route et délimitant un côté d'une voie de circulation sur laquelle un véhicule est autorisé à circuler.By line is meant here a marking, a continuous or broken line drawn on a road and delimiting one side of a traffic lane on which a vehicle is authorized to travel.

Il est bien connu de l'art antérieur d'équiper certains véhicules automobiles d'un dispositif d'alerte d'un franchissement involontaire de ligne de voie de circulation, dénommé couramment sous l'acronyme AFIL.It is well known in the prior art to equip certain motor vehicles with a device for warning of involuntary crossing of the line of a taxiway, commonly referred to by the acronym AFIL.

Un tel dispositif comporte classiquement une caméra vidéo capturant en continu l'environnement avant du véhicule et associée à des moyens de traitement et d'analyse aptes à détecter les lignes de marquage délimitant la voie de circulation du véhicule, une unité de commande apte à estimer la trajectoire du véhicule via des données transmises par différents capteurs du véhicule mesurant notamment la vitesse instantanée et l'angle de lacet du véhicule.Such a device conventionally comprises a video camera continuously capturing the environment in front of the vehicle and associated with processing and analysis means capable of detecting the marking lines delimiting the vehicle lane, a control unit capable of estimating the trajectory of the vehicle via data transmitted by various sensors of the vehicle measuring in particular the instantaneous speed and the yaw angle of the vehicle.

Cette unité de commande est configurée pour déclencher l'émission par des moyens d'avertissement d'une alerte à destination du conducteur en cas de détection d'un franchissement imminent de l'une des lignes de marquage de la voie de circulation de ce véhicule lorsque l'indicateur de changement de direction situé du côté correspondant à cette ligne n'est pas activé.This control unit is configured to trigger the transmission by warning means of an alert intended for the driver in the event of detection of an imminent crossing of one of the marking lines of the traffic lane of this vehicle when the direction change indicator located on the side corresponding to this line is not activated.

Dans les dispositifs connus, et notamment dans ceux qui sont décrits dans les documents FR 2 899 172A et US 2004/049323A , les moyens d'avertissement sont agencés pour avertir le conducteur via un message audio spécifique et/ou des vibrations dans le siège sur lequel il est installé ou sur la colonne de direction et le volant du véhicule qu'il tient.In the known devices, and in particular in those which are described in the documents FR 2 899 172A And US 2004/049323A , the warning means are arranged to warn the driver via a specific audio message and/or vibration in the seat on which it is installed or on the steering column and steering wheel of the vehicle it is holding.

Il est également connu d'afficher, à destination du conducteur, un message d'avertissement visuel sur l'un des écrans du véhicule.It is also known to display, intended for the driver, a visual warning message on one of the screens of the vehicle.

Le document JP 2010-26759A divulgue de projeter sur la route et au devant du véhicule une image comprenant une signalétique d'alerte textuelle et/ou sous forme de pictogramme.The document JP 2010-26759A discloses projecting onto the road and in front of the vehicle an image comprising textual warning signage and/or in the form of a pictogram.

Tous ces dispositifs d'alerte d'un franchissement involontaire de ligne de voie de circulation sont uniquement à destination du conducteur ou des passagers du véhicule concerné et ne permettent pas de prévenir les autres usagers de la route situés dans l'environnement de ce véhicule (automobilistes, deux-roues et piétons).All these warning devices for involuntary crossing of the line of the traffic lane are only intended for the driver or passengers of the vehicle concerned and do not make it possible to warn other road users located in the environment of this vehicle ( motorists, two-wheelers and pedestrians).

[Exposé de l'invention][Disclosure of Invention]

La présente invention vise à améliorer la sécurité de ces usagers.The present invention aims to improve the safety of these users.

Elle propose à cet effet un véhicule automobile avec dispositif d'alerte visuelle d'un franchissement involontaire d'une ligne de marquage de la voie de circulation du véhicule roulant sur une route, ledit dispositif comportant des moyens d'acquisition vidéo associés à des moyens de traitement et d'analyse pour détecter les lignes de marquage délimitant ladite voie de circulation, des moyens d'avertissement visuels aptes à projeter sur la route une image comprenant une signalétique d'alerte, ainsi qu'une unité de commande apte à estimer la trajectoire du véhicule et configurée pour déclencher l'émission de ladite signalétique d'alerte en cas de détection d'un franchissement imminent d'au moins l'une desdites lignes de marquage de la voie de circulation de ce véhicule lorsque l'indicateur de changement de direction situé du côté correspondant à cette ligne n'est pas activé ; caractérisé en ce que lesdits moyens de d'avertissement sont configurés pour projeter ladite image sur la portion de ladite route jouxtant latéralement ledit véhicule du côté correspondant à cette ligne.To this end, it proposes a motor vehicle with a device for visually alerting the involuntary crossing of a marking line of the lane of the vehicle traveling on a road, said device comprising video acquisition means associated with means processing and analysis to detect the marking lines delimiting said traffic lane, visual warning means capable of projecting onto the road an image comprising warning signs, as well as a control unit capable of estimating the trajectory of the vehicle and configured to trigger the emission of said alert signaling in the event of detection of an imminent crossing of at least one of said marking lines of the lane of circulation of this vehicle when the change indicator direction located on the side corresponding to this line is not activated; characterized in that said warning means are configured to project said image onto the portion of said road laterally adjoining said vehicle on the side corresponding to this line.

La projection d'une telle image, comprenant une signalétique d'alerte sur le côté de la route correspondant à la ligne de marquage s'apprêtant à être franchie de manière involontaire par le véhicule, permet d'avertir les autres usagers de la route situé dans l'environnement de ce véhicule du danger, de sorte à renforcer leur niveau de vigilance et à adapter leur comportement en conséquence.The projection of such an image, including warning signage on the side of the road corresponding to the marking line about to be crossed involuntarily by the vehicle, makes it possible to warn other road users road located in the environment of this dangerous vehicle, so as to increase their level of vigilance and adapt their behavior accordingly.

Selon des caractéristiques préférées dudit véhicule selon l'invention :

  • lesdits moyens d'avertissement comportent au moins des premiers moyens de projection implantés sur l'un des flancs latéraux extérieurs dudit véhicule ;
  • les au moins dits premiers moyens de projection sont implantés sur le flanc latéral extérieur côté conducteur dudit véhicule ;
  • les au moins dits premiers moyens de projection sont ménagés en partie basse du rétroviseur ;
  • les au moins dits premiers moyens de projection sont ménagés au niveau du bas de caisse du véhicule ;
  • les au moins dits premiers moyens de projection sont constitués par un vidéoprojecteur miniature ;
  • les au moins dits premiers moyens de projection sont constitués par un projecteur associé à une diapositive transparente sur laquelle est représentée l'image comprenant la signalétique visuelle d'alerte ;
  • lesdits moyens d'avertissement comportent également des seconds moyens de projection implantés de manière symétrique auxdits premiers moyens de projections sur le flanc latéral extérieur côté passager avant du véhicule ; et/ou
  • ladite image projetée est anamorphosée pour compenser l'angle d'inclinaison du chemin optique par rapport à la route.
According to preferred characteristics of said vehicle according to the invention:
  • said warning means comprise at least first projection means located on one of the outer lateral sides of said vehicle;
  • the at least said first projection means are located on the outer lateral flank on the driver's side of said vehicle;
  • the at least said first projection means are arranged in the lower part of the mirror;
  • the at least said first projection means are provided at the level of the underbody of the vehicle;
  • the at least said first projection means consist of a miniature video projector;
  • the at least said first projection means consist of a projector associated with a transparent slide on which the image comprising the visual warning signage is represented;
  • said warning means also comprise second projection means located symmetrically to said first projection means on the outer lateral flank on the front passenger side of the vehicle; and or
  • said projected image is anamorphosed to compensate for the angle of inclination of the optical path relative to the road.

L'invention vise également sous un deuxième aspect, un procédé d'alerte en cas de franchissement involontaire d'une ligne de marquage de la voie de circulation d'un véhicule automobile roulant sur une route, ledit procédé comportant les étapes de détection, en se basant sur le positionnement des lignes de marquage de ladite voie de circulation du véhicule ainsi que sur la trajectoire estimée de ce véhicule, de l'imminence d'un franchissement d'une dite ligne de marquage alors que l'indicateur de changement de direction situé du côté correspondant à cette ligne n'est pas activé, et de projection d'une image comprenant une signalétique d'alerte sur la portion de la route jouxtant latéralement ledit véhicule du côté correspondant à cette ligne.The invention also relates, in a second aspect, to a method for alerting in the event of involuntary crossing of a marking line of the traffic lane of a motor vehicle traveling on a road, said method comprising the steps of detection, in based on the positioning of the marking lines of said lane of circulation of the vehicle as well as on the estimated trajectory of this vehicle, of the imminence of a crossing of said marking line while the change of direction indicator located on the side corresponding to this line is not activated, and projecting an image comprising warning signage on the portion of the road laterally adjoining said vehicle on the side corresponding to this line.

[Brève description des dessins][Brief description of drawings]

L'exposé de l'invention sera maintenant poursuivi par la description détaillée d'un exemple de réalisation, donnée ci-après à titre illustratif mais non limitatif, en référence aux dessins annexés, sur lesquels :

  • [Fig 1] illustre un véhicule équipé du dispositif d'alerte selon l'invention, roulant sur une voie de circulation d'une route et s'apprêtant à franchir involontairement la ligne de marquage gauche de sa voie pour venir empiéter sur une autre voie de circulation ;
  • [Fig 2] représente le schéma fonctionnel du dispositif d'alerte selon l'invention ;
  • [Fig 3] est un organigramme du procédé selon l'invention ;
  • [Fig 4] illustre un premier exemple de la signalétique visuelle d'alerte projetée par le dispositif selon l'invention sur la portion de la route jouxtant latéralement le véhicule du côté correspondant au franchissement ; et
  • [Fig 5] illustre un deuxième exemple de la signalétique visuelle d'alerte projetée par le dispositif selon l'invention sur la portion de la route jouxtant latéralement le véhicule du côté correspondant au franchissement.
The presentation of the invention will now be continued with the detailed description of an embodiment, given below by way of illustration but not limitation, with reference to the appended drawings, in which:
  • [ Fig 1 ] illustrates a vehicle equipped with the warning device according to the invention, driving on a traffic lane of a road and preparing to involuntarily cross the left marking line of its lane to encroach on another traffic lane;
  • [ Fig 2 ] represents the block diagram of the alert device according to the invention;
  • [ Fig.3 ] is a flowchart of the method according to the invention;
  • [ Fig 4 ] illustrates a first example of visual warning signage projected by the device according to the invention on the portion of the road laterally adjoining the vehicle on the side corresponding to the crossing; And
  • [ Fig.5 ] illustrates a second example of visual warning signage projected by the device according to the invention on the portion of the road laterally adjoining the vehicle on the side corresponding to the crossing.

[Description détaillée][Detailed description]

La figure 1 illustre schématiquement un tronçon d'une route à double sens de circulation 1 comportant deux voies de circulation 2, 3 accolées l'une à l'autre.There figure 1 schematically illustrates a section of a two-way traffic road 1 comprising two traffic lanes 2, 3 joined to one another.

Un premier véhicule 4 roulant sur la voie de circulation 2 dans la direction représentée par la flèche F s'apprête à franchir la ligne discontinue de marquage gauche 5 de sa voie 2 pour venir empiéter sur la voie à sens inverse de circulation 3.A first vehicle 4 driving on the traffic lane 2 in the direction represented by the arrow F is about to cross the broken left marking line 5 of its lane 2 to encroach on the lane in the opposite direction of traffic 3.

Le véhicule 4 est équipé d'un dispositif 10 d'alerte visuelle d'un franchissement involontaire d'une ligne de marquage de la voie de circulation selon l'invention dont le schéma fonctionnel est représenté sur la figure 2.The vehicle 4 is equipped with a device 10 for visual warning of an involuntary crossing of a marking line of the traffic lane according to the invention, the functional diagram of which is represented on the figure 2 .

Ce dispositif 10 comporte des moyens d'acquisition vidéo 20 constitués ici par une unique caméra implantée à l'avant du véhicule et capturant en continu l'environnement avant du véhicule 4, un module de traitement et d'analyse 30 des images capturées par cette caméra 20, un capteur 40 mesurant la vitesse instantanée du véhicule 5, un capteur 50 de mesure du taux de lacet du véhicule 4, des capteurs 60 de l'état des indicateurs latéraux de changement de direction (clignotants) du véhicule 4, une unité de commande 70 ainsi que des moyens d'avertissement 80 visuels.This device 10 comprises video acquisition means 20 constituted here by a single camera installed at the front of the vehicle and continuously capturing the environment in front of the vehicle 4, a processing and analysis module 30 images captured by this camera 20, a sensor 40 measuring the instantaneous speed of the vehicle 5, a sensor 50 for measuring the yaw rate of the vehicle 4, sensors 60 of the state of the side change of direction indicators (flashers) of the vehicle 4, a control unit 70 as well as visual warning means 80.

Implantée avantageusement sur l'axe longitudinal médian du véhicule 4 en arrière du pare-brise et à proximité du rétroviseur intérieur, la caméra 20 comprend un capteur optique de type CCD (acronyme en langue anglaise de « Charge-Coupled Device » se traduisant en français par « dispositif à couplage de charge ») ou CMOS (acronyme en langue anglaise de « Complementary Metal-Oxide Semiconductor » se traduisant en français par « semi-conducteur à oxyde de métal complémentaire »).Advantageously located on the median longitudinal axis of the vehicle 4 behind the windshield and close to the interior rearview mirror, the camera 20 comprises a CCD type optical sensor (acronym in English for “Charge-Coupled Device” translating into French by “charge-coupled device”) or CMOS (acronym in English for “Complementary Metal-Oxide Semiconductor” translating into French as “complementary metal-oxide semi-conductor”).

La caméra 20 n'est pas nécessairement spécifique au dispositif d'alerte selon l'invention 10 mais peut constituer également l'un des éléments d'un dispositif complémentaire tel que par exemple un système de freinage automatique dont l'objectif est d'éviter une collision avec un obstacle situé à l'avant du véhicule 4. Une telle mutualisation des moyens d'acquisition vidéo permet ainsi de réduire le coût de revient du dispositif 10.The camera 20 is not necessarily specific to the alert device according to the invention 10 but can also constitute one of the elements of a complementary device such as for example an automatic braking system whose objective is to avoid a collision with an obstacle located in front of the vehicle 4. Such pooling of the video acquisition means thus makes it possible to reduce the cost price of the device 10.

Selon des variantes non représentées, la caméra peut être implantée en un autre endroit du véhicule 4, par exemple au niveau de son pare-choc avant.According to variants not shown, the camera can be installed in another location of the vehicle 4, for example at its front bumper.

Selon d'autres variantes de réalisation de l'invention, les moyens d'acquisition vidéo du dispositif peuvent comporter deux caméras disposées des deux côtés avant du véhicule, par exemple au niveau des rétroviseurs.According to other variant embodiments of the invention, the video acquisition means of the device may comprise two cameras arranged on the two front sides of the vehicle, for example at the level of the mirrors.

Avantageusement intégré à la caméra 20 ou dissocié de cette dernière, le module de traitement et d'analyse 30 est apte à détecter en temps réel et par l'intermédiaire de différents algorithmes de reconnaissance, les lignes de marquage 5, 6 délimitant la voie de circulation 2 du véhicule 4 à partir des images transmises par la caméra 20.Advantageously integrated into the camera 20 or dissociated from the latter, the processing and analysis module 30 is capable of detecting in real time and via different recognition algorithms, the marking lines 5, 6 delimiting the path of circulation 2 of vehicle 4 from the images transmitted by the camera 20.

Les données recueillies par le module de traitement et d'analyse 30, les capteurs de vitesse 40, de taux de lacet 50 et d'état des indicateurs latéraux de changement de direction 60 sont acheminées en temps réel vers l'unité de commande 70 à laquelle ces derniers sont reliés.The data collected by the processing and analysis module 30, the speed sensors 40, the yaw rate 50 and the status of the side direction change indicators 60 are routed in real time to the control unit 70 at which they are connected.

Les moyens d'avertissement visuels 80 comportent au moins des premiers moyens de projection implantés sur le flanc latéral extérieur côté conducteur du véhicule, avantageusement en partie basse du rétroviseur ou au niveau du bas de caisse du véhicule à proximité du passage de roue avant.The visual warning means 80 comprise at least first projection means located on the outer lateral flank on the driver's side of the vehicle, advantageously in the lower part of the mirror or at the level of the underbody of the vehicle close to the front wheel arch.

Constitués de préférence par un vidéoprojecteur miniature, ces premiers moyens de projection sont configurés pour projeter, sur la portion de la route jouxtant latéralement le véhicule 4 du côté correspondant à la ligne de marquage 5 et en réponse à un signal transmis par l'unité de commande 70, une image 7 comprenant un signalétique visuelle d'alerte.Preferably consisting of a miniature video projector, these first projection means are configured to project, on the portion of the road laterally adjoining the vehicle 4 on the side corresponding to the marking line 5 and in response to a signal transmitted by the control 70, an image 7 comprising a visual alert signage.

De manière avantageuse, les moyens d'avertissement visuels 80 du dispositif selon l'invention comportent également des seconds moyens de projection implantés de manière symétrique aux premiers moyens de projection sur le flanc latéral extérieur côté passager avant du véhicule, ces seconds moyens de projection étant configurés pour projeter, sur la portion de la route jouxtant latéralement le véhicule 4 du côté correspondant à la ligne de marquage 6 et en réponse à un signal transmis par l'unité de commande 70, une image semblable à l'image 7 et comprenant un signalétique visuelle d'alerte.Advantageously, the visual warning means 80 of the device according to the invention also comprise second projection means located symmetrically to the first projection means on the outer lateral flank on the front passenger side of the vehicle, these second projection means being configured to project, on the portion of the road laterally adjoining the vehicle 4 on the side corresponding to the marking line 6 and in response to a signal transmitted by the control unit 70, an image similar to the image 7 and comprising a visual alert signage.

Les moyens de projection ne sont pas nécessairement spécifiques au dispositif selon l'invention 10, mais peuvent constituer également l'un des éléments d'un dispositif complémentaire tel que par exemple un système d'éclairage d'accueil destiné à accompagner le conducteur dans ses phases d'approche ou d'éloignement du véhicule. De la même manière que pour la caméra, une telle mutualisation de ces moyens de projection permet de réduire le coût de revient du dispositif 10.The projection means are not necessarily specific to the device according to the invention 10, but can also constitute one of the elements of a complementary device such as for example a welcome lighting system intended to accompany the driver in his approach or departure phases of the vehicle. In the same way as for the camera, such pooling of these projection means makes it possible to reduce the cost price of the device 10.

Avantageusement, l'image projetée par les moyens de projections est anamorphosée, c'est-à-dire déformée par rapport à sa projection visible sur le sol pour compenser l'angle d'inclinaison du chemin optique par rapport à la route et de sorte à améliorer la lisibilité de signalétique d'alerte pour les usagers de la route situés dans l'environnement du véhicule.Advantageously, the image projected by the projection means is anamorphosed, that is to say deformed with respect to its visible projection on the ground to compensate for the angle of inclination of the optical path with respect to the road and so to improve the readability of warning signage for road users located in the environment of the vehicle.

En variante, les moyens de projections peuvent être constitués par un simple projecteur miniature associé à une diapositive transparente sur laquelle est représentée l'image comprenant la signalétique visuelle d'alerte. Un tel projecteur peut par exemple comprendre une diode électroluminescente ou laser de puissance, blanche ou colorée, et associée à au moins une lentille convergente.As a variant, the projection means may consist of a simple miniature projector associated with a transparent slide on which the image comprising the visual alert signage is represented. Such a projector may for example comprise a light-emitting diode or power laser, white or colored, and associated with at least one converging lens.

De manière avantageuse, les moyens d'avertissement visuels 80 sont également aptes à solliciter le conducteur via les différents moyens d'interaction homme machine (IHM) de type visuel, sonore, et/ou haptique dont est équipé le véhicule.Advantageously, the visual warning means 80 are also capable of prompting the driver via the various human-machine interaction means (HMI) of the visual, sound and/or haptic type with which the vehicle is equipped.

Les moyens d'interaction visuels peuvent par exemple être constitués par l'écran d'affichage tactile du dispositif d'info-divertissement intégré à la console centrale de la planche de bord, par celui du combiné d'instruments, et/ou par celui du dispositif d'affichage tête haute lorsque le véhicule en est équipé. Les moyens d'interaction sonores sont formés classiquement par les hauts parleurs du système d'info-divertissement et/ou par une alarme système indépendante. Les moyens d'interaction haptiques consistent avantageusement en une pluralité de vibreurs implantés dans le siège conducteur ou dans le volant.The visual interaction means may for example consist of the touch screen display of the infotainment device integrated into the center console of the dashboard, by that of the instrument cluster, and/or by that of the head-up display device when the vehicle is equipped with it. The sound interaction means are conventionally formed by the loudspeakers of the infotainment system and/or by an independent system alarm. The haptic interaction means advantageously consist of a plurality of vibrators located in the driver's seat or in the steering wheel.

Les sollicitations consistent par exemple en l'affichage d'un témoin lumineux, l'affichage d'un message textuel informatif ou d'alerte, l'émission d'un signal sonore, l'émission d'un message vocal informatif ou d'alerte, et/ou l'activation des vibreurs.The prompts consist, for example, of the display of an indicator light, the display of an informative or alert text message, the emission of an audible signal, the emission of an informative voice message or alert, and/or the activation of vibrators.

L'unité de commande 70 comporte un calculateur 71 et un module de stockage 72 qui comprend de la mémoire non volatile de type EEPROM ou FLASH et de la mémoire vive.The control unit 70 comprises a computer 71 and a storage module 72 which comprises non-volatile memory of the EEPROM or FLASH type and random access memory.

La mémoire non volatile stocke un processus d'alerte visuelle en cas de franchissement involontaire d'une ligne de marquage de la voie de circulation du véhicule 4, qui est mis en oeuvre dans cette unité 70 et dont l'organigramme est représenté sur la figure 3.The non-volatile memory stores a visual warning process in the event of involuntary crossing of a marking line of the traffic lane of the vehicle 4, which is implemented in this unit 70 and whose flowchart is represented on the picture 3 .

Selon un mode préféré de réalisation, l'ensemble des informations contenues dans cette mémoire non volatile peut être mis à jour par des moyens de communication ou des moyens de lecture d'un support de données.According to a preferred embodiment, all of the information contained in this non-volatile memory can be updated by communication means or means for reading a data medium.

On va maintenant décrire en détails et à l'appui de l'organigramme de cette figure 3, les différentes étapes de ce procédé qui est mis en oeuvre de manière périodique suivant une période prédéterminée comprise de préférence entre 50 et 200 millisecondes et par exemple égale à 100 millisecondes.We will now describe in detail and in support of the organization chart of this picture 3 , the different steps of this process which is implemented in a periodically following a predetermined period preferably between 50 and 200 milliseconds and for example equal to 100 milliseconds.

Celui-ci est initié à l'étape 100 au cours de laquelle l'unité de commande 70 vérifie, en se basant sur le positionnement des lignes de marquage de la voie de circulation du véhicule 4 transmis par le module de traitement et d'analyse 30 ainsi que sur la trajectoire du véhicule estimée à partir des données de vitesse et de taux de lacet transmises par les capteurs 40 et 50, l'imminence d'un franchissement d'une ligne de marquage 5 de la voie 2.This is initiated at step 100 during which the control unit 70 checks, based on the positioning of the marking lines of the lane of circulation of the vehicle 4 transmitted by the processing and analysis module 30 as well as on the trajectory of the vehicle estimated from the speed and yaw rate data transmitted by the sensors 40 and 50, the imminence of a crossing of a marking line 5 of lane 2.

Dans l'affirmative, le processus selon l'invention vérifie ensuite, à partir des données reçues en provenance du capteur d'état des indicateurs latéraux de changement de direction 60, si l'indicateur latéral situé du côté correspondant à cette ligne de marquage 5 est bien activé (étape 200).If so, the process according to the invention then checks, on the basis of the data received from the state sensor of the side change of direction indicators 60, whether the side indicator located on the side corresponding to this marking line 5 is indeed activated (step 200).

Si tel n'est pas le cas, l'unité de commande 70 estime que le franchissement de la ligne de marquage 5 est involontaire, et transmet donc aux moyens d'avertissement 80, l'ordre de projeter l'image 7 contenant la signalétique visuelle d'alerte sur la portion de la route 1 jouxtant le véhicule du côté correspondant à cette ligne de marquage 5 (étape 300), tel qu'illustré sur la figure 1 où cette signalétique se présente sous la forme d'un pictogramme 7A représentatif du danger encouru par les usagers de la route (ce pictogramme étant mieux visible sur la figure 4.If this is not the case, the control unit 70 considers that the crossing of the marking line 5 is involuntary, and therefore transmits to the warning means 80, the order to project the image 7 containing the signage visual alert on the portion of road 1 adjoining the vehicle on the side corresponding to this marking line 5 (step 300), as illustrated in the figure 1 where this signage is in the form of a pictogram 7A representing the danger incurred by road users (this pictogram being better visible on the figure 4 .

La projection de cette image permet ainsi d'avertir du danger les autres usagers de la route situé dans l'environnement de ce véhicule (non seulement ceux situés sur la voie de circulation 3 à sens inverse de circulation tel que le véhicule 8 sur la figure 1, mais également ceux situés sur la voie 2 en arrière du véhicule 4 tel que le véhicule 9 sur la figure 1, de sorte à renforcer leur niveau de vigilance et à adapter leur comportement en conséquence.The projection of this image thus makes it possible to warn of the danger the other road users located in the environment of this vehicle (not only those located on the traffic lane 3 in the opposite direction of traffic such as the vehicle 8 on the figure 1 , but also those located on lane 2 behind vehicle 4 such as vehicle 9 on lane figure 1 , so as to increase their level of vigilance and adapt their behavior accordingly.

En variante, cette signalétique visuelle d'alerte peut être de type différent et comporter par exemple un message textuel 7B associé à un ou plusieurs pictogrammes 7C tel qu'illustré par l'exemple de la figure 5. :As a variant, this visual alert signage can be of a different type and include for example a text message 7B associated with one or more pictograms 7C as illustrated by the example of the figure 5 . :

Claims (10)

  1. Motor vehicle (4) with a device for visual warning of an involuntary crossing of a marking line (5) of the traffic lane (2) of the vehicle (4) travelling on a road (1), said device comprising video acquisition means (20) associated with processing and analysis means (30) for detecting the marking lines (5, 6) delimiting said traffic lane (2), visual warning means (80) capable of projecting onto the road (1) an image (7) comprising a warning sign (7A, 7B, 7C), as well as a control unit (70) capable of estimating the trajectory of the vehicle (4) and configured to trigger the emission of said warning signal in the event of detection of an imminent crossing of at least one (5) of said marking lines (5, 6) of the traffic lane (2) of the vehicle (4) when the direction change indicator located on the side corresponding to this line (5) is not activated ; characterized in that said warning means (80) are configured to project said image (7) onto the portion of said road (1) laterally adjoining the vehicle (4) on the side corresponding to that line (5).
  2. Vehicle according to claim 1, characterized in that said warning means (80) comprise at least first projection means located on one of the outer lateral sides of the vehicle (4).
  3. Vehicle according to claim 2, characterized in that said at least first projection means are implanted on the driver's side external lateral side of the vehicle (4).
  4. Vehicle according to one of claims 2 or 3, characterized in that said at least first projection means are provided in the lower part of the rearview mirror.
  5. Vehicle according to one of claims 2 or 3, characterized in that said at least first projection means are provided at the level of the lower part of the vehicle body.
  6. Vehicle according to one of claims 2 to 5, characterized in that said at least first projection means are constituted by a miniature video projector.
  7. Vehicle according to one of claims 2 to 5, characterized in that said at least first projection means are constituted by a projector associated with a transparent slide on which is represented the image comprising the visual warning signal.
  8. Vehicle according to one of claims 2 to 7, taken in combination with claim 3, characterized in that said warning means (80) also comprise second projection means implanted symmetrically to said first projection means on the front passenger side exterior lateral flank of the vehicle.
  9. Vehicle according to one of claims 1 to 8, characterized in that said projected image (7) is anamorphosed to compensate for the angle of inclination of the optical path with respect to the road.
  10. A method of visually alerting in case of unintentional crossing of a marking line (5) of the traffic lane (2) of a motor vehicle (4) driving on a road (1), said method comprising the following steps:
    - detection, based on the positioning of the marking lines (5, 6) of said traffic lane (2) of the vehicle (4) as well as on the estimated trajectory of this vehicle, of the imminence of a crossing of a said marking line (5) while the direction change indicator located on the side corresponding to this line is not activated
    - projection of an image (7) comprising a warning sign (7A, 7B, 7C) on the portion of the road (1) laterally adjoining said vehicle (4) on the side corresponding to this line (5).
EP20725817.9A 2019-04-15 2020-03-04 Vehicle with a device for visually warning of an unintentional crossing of a roadway marking line, and associated warning method Active EP3956175B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1903994A FR3094942B1 (en) 2019-04-15 2019-04-15 Visual warning device of an involuntary crossing of a line marking the lane of a vehicle
PCT/FR2020/050427 WO2020212668A1 (en) 2019-04-15 2020-03-04 Device for visually warning of an unintentional crossing of a roadway marking line, and associated warning method

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EP3956175B1 true EP3956175B1 (en) 2023-07-05

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Publication number Priority date Publication date Assignee Title
US20040049323A1 (en) 2002-09-05 2004-03-11 Ford Global Technologies, Inc. Haptic seat notification system
FR2899172B1 (en) 2006-03-28 2009-01-09 Peugeot Citroen Automobiles Sa DEVICE FOR CONTROLLING AN ACTUATOR OF A VEHICLE THAT CAN IN PARTICULAR OPERATE IN VIBRATORY MODE DURING AN ABNORMAL DRIVING SITUATION OF THE VEHICLE.
JP2010026759A (en) 2008-07-18 2010-02-04 Mazda Motor Corp Driving support device for vehicle
DE102011081382A1 (en) * 2011-08-23 2013-02-28 Robert Bosch Gmbh Method and device for changing a light emission of at least one headlight of a vehicle
US10752165B2 (en) * 2016-04-13 2020-08-25 Panasonic Automative Systems Company of America, Division of Panasonic Corporation of North America Vehicle signal

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WO2020212668A1 (en) 2020-10-22
FR3094942B1 (en) 2021-03-05
FR3094942A1 (en) 2020-10-16

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